fix(otto): WebSocket direct clients not receiving MCP responses (#1992)
* Enhance Otto Robot camera support by adding configuration for OV3660. Updated config.h to define camera types and GPIO settings, modified config.json to include new camera options, and refactored otto_robot.cc for improved camera detection and initialization logic. * fix: 移除 OttoEmojiDisplay 构造函数中的 SetTheme 调用以修复 LoadProhibited 崩溃 Made-with: Cursor * refactor: improve audio service error handling and codec timeout management - Updated AudioService to prevent input task termination on read timeout, introducing a delay instead. - Enhanced NoAudioCodec to implement a read timeout for I2S channel reads. - Adjusted WebSocketControlServer to set a control port for improved socket management. - Added manufacturer information to the config.json for waveshare ESP32-Touch-LCD-3.5. * fix(otto): WebSocket direct clients not receiving MCP responses When a browser connects directly to the WebSocket control server (port 8080) and sends a JSON-RPC request, the MCP response was routed through Application::SendMcpMessage -> protocol_->SendMcpMessage, which sends it to the cloud protocol channel. As a result, the direct WebSocket client never received the response, while the WeChat mini-program could because it communicates via the cloud. Fix: - Add BroadcastMessage() to WebSocketControlServer, using httpd_queue_work + httpd_ws_send_frame_async to asynchronously send responses back to all connected clients on port 8080 - Add RegisterMcpBroadcastCallback() to Application, allowing an additional MCP send callback to be registered; SendMcpMessage() now invokes it alongside the cloud protocol - Register the broadcast callback in OttoRobot after the WebSocket server starts successfully Also add WebSocket direct-connect API documentation to README.md with complete JSON-RPC 2.0 command examples.
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小鹏
@ -205,3 +205,212 @@ otto 机器人具有丰富的动作能力，包括行走、转向、跳跃、摇
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**说明**: 小智控制机器人动作是创建新的任务在后台控制，动作执行期间仍可接受新的语音指令。可以通过"停止"语音指令立即停下Otto。
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---
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## WebSocket 直连调试接口
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Otto 机器人内置 WebSocket 服务器，可在局域网内直接调试，无需经过云端。
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**连接地址：** `ws://<设备IP>:8080/ws`
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> 协议格式：JSON-RPC 2.0，`id` 字段自行递增即可。
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### 连接方式
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1. 确认 Otto 已连上 WiFi，获取 IP 地址（可通过小程序或串口日志查看）
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2. 打开任意 WebSocket 调试工具（如 [websocket.org/echo](https://websocket.org/echo) 或浏览器控制台）
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3. 连接 `ws://192.168.x.x:8080/ws`（注意末尾必须有 `/ws`）
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4. 发送 JSON 命令，响应会直接返回到同一连接
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---
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### 一、协议初始化（首次连接建议先发）
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```json
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{"jsonrpc":"2.0","method":"initialize","params":{"protocolVersion":"2024-11-05","capabilities":{}},"id":1}
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```
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---
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### 二、获取工具列表
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```json
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{"jsonrpc":"2.0","method":"tools/list","params":{},"id":2}
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```
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---
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### 三、Otto 机器人工具命令
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#### 获取舵机微调值
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.get_trims","arguments":{}},"id":3}
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```
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#### 设置单个舵机微调（永久保存）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.set_trim","arguments":{"servo_type":"left_leg","trim_value":5}},"id":4}
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```
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`servo_type` 可选值：`left_leg` / `right_leg` / `left_foot` / `right_foot` / `left_hand` / `right_hand`，`trim_value` 范围 `-50` ~ `50`
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#### 行走（前进3步）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"walk","steps":3,"speed":700,"direction":1}},"id":5}
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```
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#### 后退
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"walk","steps":3,"speed":700,"direction":-1}},"id":6}
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```
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#### 左转
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"turn","steps":3,"speed":700,"direction":-1}},"id":7}
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```
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#### 跳跃
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"jump","steps":1,"speed":500}},"id":8}
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```
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#### 摇摆
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"swing","steps":5,"speed":600,"amount":30}},"id":9}
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```
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#### 太空步
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"moonwalk","steps":3,"speed":800,"direction":1,"amount":30}},"id":10}
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```
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#### 坐下
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"sit"}},"id":11}
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```
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#### 复位
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"home"}},"id":12}
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```
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#### 展示动作
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"showcase"}},"id":13}
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```
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#### 举手（需手部舵机）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"hands_up","speed":500,"direction":1}},"id":14}
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```
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#### 挥手（需手部舵机）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.action","arguments":{"action":"hand_wave","direction":1}},"id":15}
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```
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#### 立即停止所有动作
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.stop","arguments":{}},"id":16}
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```
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#### 获取运动状态（返回 `"moving"` 或 `"idle"`）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.get_status","arguments":{}},"id":17}
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```
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#### 获取 IP 地址
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.get_ip","arguments":{}},"id":18}
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```
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#### 获取电池电量
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.battery.get_level","arguments":{}},"id":19}
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```
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---
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### 四、系统通用工具
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#### 获取设备状态（音量/网络/电池等）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.get_device_status","arguments":{}},"id":20}
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```
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#### 设置音量（0~100）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.audio_speaker.set_volume","arguments":{"volume":70}},"id":21}
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```
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#### 重启设备
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.reboot","arguments":{}},"id":22}
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```
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---
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### 五、自定义舵机序列
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#### 普通移动模式（逐步移动各舵机）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.servo_sequences","arguments":{"sequence":"{\"a\":[{\"s\":{\"ll\":110,\"rl\":70},\"v\":800},{\"s\":{\"ll\":90,\"rl\":90},\"v\":800}],\"d\":0}"}},"id":23}
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```
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#### 振荡器模式（双臂摆动）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.servo_sequences","arguments":{"sequence":"{\"a\":[{\"osc\":{\"a\":{\"lh\":30,\"rh\":30},\"o\":{\"lh\":90,\"rh\":90},\"ph\":{\"rh\":180},\"p\":500,\"c\":5.0}}]}"}},"id":24}
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```
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#### 振荡器模式（左右摇摆波浪）
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```json
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{"jsonrpc":"2.0","method":"tools/call","params":{"name":"self.otto.servo_sequences","arguments":{"sequence":"{\"a\":[{\"osc\":{\"a\":{\"ll\":20,\"rl\":20},\"o\":{\"ll\":90,\"rl\":90},\"ph\":{\"rl\":180},\"p\":600,\"c\":5.0}}]}"}},"id":25}
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```
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**序列舵机键名说明：**
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| 键名 | 舵机 | 说明 |
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|------|------|------|
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| `ll` | 左腿 | 0=完全外展，90=中立，180=完全内收 |
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| `rl` | 右腿 | 0=完全内收，90=中立，180=完全外展 |
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| `lf` | 左脚 | 0=完全向上，90=水平，180=完全向下 |
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| `rf` | 右脚 | 0=完全向下，90=水平，180=完全向上 |
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| `lh` | 左手 | 0=完全向下，90=水平，180=完全向上 |
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| `rh` | 右手 | 0=完全向上，90=水平，180=完全向下 |
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---
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### 六、动作参数速查
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| 参数 | 说明 | 范围 | 默认 |
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|------|------|------|------|
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| `steps` | 动作步数 | 1~100 | 3 |
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| `speed` | 速度（毫秒，越小越快） | 100~3000 | 700 |
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| `direction` | 方向（1=前/左，-1=后/右） | -1~1 | 1 |
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| `amount` | 幅度 | 0~170 | 30 |
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| `arm_swing` | 手臂摆动幅度 | 0~170 | 50 |
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| `trim_value` | 舵机微调 | -50~50 | 0 |
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